Underwater SLAM and Waypoint Navigation with Autonomous Underwater Vehicle (AUV)
Underwater SLAM and Waypoint Navigation with Autonomous Underwater Vehicle (AUV)

ROS2 package that interfaces with ArduSub to allow an AUV to autonomously navigate waypoints and avoid obstacles under water.

PythonROS2SLAMCMakePixhawkArduSubPath PlanningControls
EKF SLAM from Scratch
EKF SLAM from Scratch

Developing a ROS2 C++ EKF SLAM package from scratch for a turtlebot3 and simulated environment.

ROS2C++RVIZKinematicsLiDARKinematicsMachine Learning
Hangman Game with Robot Arm
Hangman Game with Robot Arm

ROS2 package and services allowing Franka Emika arm to facilitate a game of hangman with a human player.

PythonROS2OpenCVEmbedded SystemsCAD
Kuka youBot Mobile Manipulator
Kuka youBot Mobile Manipulator

Control algorithm to pick and place a cube with a Kuka youBot simulated in Coppeliasim.

PythonCoppeliaSimKinematicsMotion PlanningPath PlanningTrajectory Generation
Autonomous Drone Flight and Obstacle Avoidance in GPS-disabled Environments

Quadcopter system capable of accurate state estimation with a 3D error ellipsoid visualization.

Embedded SystemsLiDARCADSystem IntegrationHardwareSensors